EP2798929B1 - Method for automatic parameterisation of a task controller of an agricultural machine, corresponding computer program, control unit and agricultural machine - Google Patents

Description

1. Field of the invention

The field of the invention is that of agricultural machines, and more specifically devices for spreading particles for agricultural machinery. By particles, here we mean seeds for seeds, fertilizers, pesticides, and more generally any material in the form of particles and likely to be distributed accurately, especially in the field of agriculture.

More particularly, the invention relates to the automatic parameterization of a control unit of an agricultural machine equipped with such a spreading device, for controlling a task controller module equipped with a so-called section cutting function. .

2. Prior art and disadvantages

In the fields of agriculture and in particular of precision farming, the machines used to spread fertilizer or seedlings on a cultivable plot, are generally in the form of a tractor 10 carrying a hopper 11 containing the fertilizer 14 to be spread, as illustrated on the figure 1 .

According to a conventional technique, the bottom of the hopper 11 comprises at least one opening 12 allowing the contents 11 of the hopper 14 to pass over a dispenser comprising at least one rotating disc 15 carrying projection blades. The discs 15 are most often arranged in a substantially horizontal position and their rotation about a substantially vertical axis 16 promotes the projection of the content 14 of the hopper by centrifugal effect, in the form of a sheet extending to the back of the spreading machine.

Conventionally, the distributors equipping agricultural spreading machines use at least two rotating discs rotating in opposite directions with respect to each other, such a configuration making it possible to carry out a spreading operation. fertilizer and / or sowing over a wide width, generally between 5 and 50 meters, depending on the control parameters transmitted to the distributor.

Such spreading machines make it possible to treat a parcel of arable land, generally by a predefined path of return thereon.

Spreading is thus performed during each path of the machine on a band of a predetermined width, possibly modifiable, which must overlap the adjacent band to compensate for the decrease in the particle density of the spreading sheet. outside each treated area.

The use of such machines, however, is limited and not optimal in a context related to precision farming in which the actual doses to be spread on the soil of a cultivable plot must take into account pre-established and optimized instructions, which must be in perfect compliance with the environmental constraints, or with the real needs estimated in sowing or in fertilizer for the soil or the cultivation of the parcel.

To tend towards an optimization of the doses of products or particles (fertilizer or sowing) to be spread at different points or in different zones of a parcel to be treated, one knows of the prior art, in particular in the documents of patent n ° EP 0 726 024 , EP 0 761 084 , EP 0 917 816 , or EP 1 181 857 solutions consisting of a centrifugal spreading machine capable of taking into account data from a previously stored application card.

These spreading machines convert a target dose into a real dose delivered to the soil during the passage of the spreading machine. The control of the distributor used by the spreading machine is thus achieved during the movement of the spreading machine on the plot, so that the dose actually delivered substantially corresponds to the predetermined dose set.

There are also systems for automating the spraying of liquid products, known as section cutting. A sprayer uses a spray boom, which can be broken down into several sections. Several companies offer section cuts, that is to say piloted systems by geolocation means (GPS) for selectively activating these spraying sections depending on the position of the machine in the field.

This technique was then adapted to the spreading of particles, with manual or automatic cut-off means, according to the technique described in the document EP 2 198 683 .

According to a technique of the prior art that makes it possible to automate the cut-off of sections, the parameterization of the section cut-off module of a distribution device can be implemented via a cut-off module denoted TCSC (for task controller cut-off). section or "Task Controller Section Control" in English) compatible with the ISOBUS communication protocol (in particular ISO 11783). To manage the communication between an ISOBUS virtual terminal and the agricultural machine, electronic control units (ECUs) are used to load files including a human-machine interface, called "IOP files" (for "ISOBUS Object Pool"). English).

There are also ISOXML type files storing parameter information of the agricultural machine, for different spreading configurations.

Finally, there is also known software capable of storing a number of adjustment profiles of a TCSC type of cutoff module, for example via spreadsheet type files.

A major drawback of these techniques of the prior art lies in the manual setting of the dispenser of the spreading machine, which is often tedious for the user, who must enter a large number of parameter data, for example from reference, or charts, provided by the manufacturer of the distributor. Thus, the settings or settings entered by the user are generally not information measured or measurable by the user and their manual entry is therefore a source of programming errors, which can have a significant impact on the spreading, and in particular the doses of particles used or the uniformity of spreading over the entire plot. Finally, such a parameterization based on charts does not allow to adapt to any width of work, such as a special working width for vegetables (20,60m) or any technical characteristic component parts of the dispenser (such as disk sets), or certain characteristics of the product to be spread.

3. Objectives of the invention

The invention particularly aims to overcome these disadvantages of the state of the art.

More precisely, an object of the invention is, according to at least one embodiment, to provide a new technique for parameterizing a module for cutting off sections of a particle distribution device that is simpler and faster to handle by means of a device. user of the device.

Another objective of the invention is, according to at least one embodiment, to provide a new technique for parameterizing a module for cutting off sections of a particle distribution device that limits the programming errors due to manual inputs of data. the user.

According to another aspect, the invention also aims to provide a new parameterization technique of a section cutting module of a particle distribution device, which is simple to implement, efficient and inexpensive.

Thus, a particular object of the invention is to optimize the parameterization of a module for cutting sections of a device for distributing particles of any type, seeds of different sizes, fertilizers, whatever the specific characteristics related to the agricultural machine used (working width, set of discs, ...).

4. Presentation of the invention

The invention relates to a method of automatically parameterizing a task controller controlling means for cutting sections of an agricultural machine equipped with a particle spreading device employing at least two rotating discs carrying projection blades. .

According to the invention, for at least one set of discs of the spreading device and a section N , the method comprises a step of calculating the coordinates of the section N taking into account the shape of the spreading sheet and a transmission step. coordinates to the task controller.

Thus, the invention proposes a new and inventive solution of the parameterization of a section cutting module of a spreading device, allowing automatic parameterization, from data representative of the shape of the spreading sheet.

Thus, it automatically has the actual position of each distribution section, for example the position of its center, or a specific point identifiable as a left / right end point farthest / closest to the spreading disc, regardless of the working width entered by the user, and regardless of the disk set used.

• ∘ un nombre maximal de tronçons,
• ∘ une donnée de paramétrage représentative de la largeur de travail Lw du dispositif d'épandage, saisie par un utilisateur de la machine agricole via un module de saisie d'une unité de commande de la machine agricole,
• ∘ au moins une première constante représentative du jeu de disques.

In particular, the step of calculating the coordinates of the section N, delivers a DL_N value of lateral shift of the section N, and a value of a shift DA_N behind the spreading disk of the section N, the value DL _ N taking into account following data:

• ∘ maximum number of sections,
• A parameter data representative of the working width Lw of the spreading device, entered by a user of the agricultural machine via an input module of a control unit of the agricultural machine,
• At least one first constant representative of the set of disks.

Thus, the invention is based on a new and inventive approach to the parameterization of a section cutting module of a spreading device, allowing an automatic parameterization, from a data input by the user, of a maximum number of sections and predetermined constant (s) dependent (s) of the set of discs used by the spreading device.

The rearward shift DA_N of a section N can be written in the form of a mathematical function f (Nmax, Lw, N).

For example, this function can be written as a degree polynomial $\mathrm{n\; such\; that}:\mathit{DA\_N}={\displaystyle \underset{r=0}{\overset{\mathrm{not}}{\Sigma }}}\mathit{kr}\mathrm{.}{\left(\mathit{DL\_N}\right)}^r\mathrm{.}$

In this way, the manual entry made by the user is greatly simplified, because instead of entering, according to the current state of the art, a series of data from reference documents, such as charts, and often tedious to grasp , the user has only one data to enter. In addition, this input operation is tedious, some manufacturers provide charts including for example the values of the shift DA_N behind the spreading disk are identical for all sections, which is an approximation that greatly degrades the quality of work.

In addition, the calculation performed by the control unit of the agricultural machine makes it possible to adapt to any type of disc set used, the constants taken into account in the calculation taking into account the set of discs used.

The automatic parameterization of the section cutting module makes it possible to adapt to any working width, this data being that entered by the user. Thus, the invention makes it possible to automatically calculate an adjustment profile of the section cutting module adapted to the actual crescent shape of the spreading sheet, whatever the working width, data input by the user, and which regardless of the set of disks used, the constants used in the calculation being dependent on this characteristic.

The parameterization of the section cutting module according to this embodiment of the invention is not only automatic, which makes it "transparent" for the user, who has only one data to grasp, but also adaptable to all spreading configurations, regardless of the working width and regardless of the set of discs used.

The method makes it possible to calculate the " X and Y" coordinates of the section, respectively corresponding to the offset behind the spreading disk of the section and the lateral offset of the section, relative to the direction of travel of the spreading machine, unlike some techniques of the prior art, according to which these coordinates were to be entered by the user from reference data, with the risk of error and inaccuracy that this entailed.

In this way, one automatically has the actual position of each distribution section, for example the position of its center, or a specific point identifiable as a left / right endpoint furthest from / near the disc of spreading, regardless of the working width entered by the user, regardless of the set of discs used.

In a particular aspect of the invention, the DL _ N value is written as follows: $$\mathit{DL\_N}=\left(\mathrm{NOT}-\left(0,5*\mathit{N.<figure-callout\; id="5"\; label="sub.max\; +"\; filenames="imgf0002.png"\; state="\{\{state\}\}">sub.max\; </figure-callout>}+\mathit{0},\mathit{5}\right)\right)*\left(\mathit{lw}/\mathit{N.sub.max}\right),\mathrm{with}\mathit{N.sub.max}\mathrm{equal\; to\; the\; total\; number\; of\; sections}\mathrm{.}$$

According to a particular characteristic of the invention, the calculation step comprises a substep of solving an equation having at least three predetermined constants dependent on the set of discs, denoted K0, K2 and K4.

According to this embodiment of the invention, the calculation of the first X coordinate of the section, corresponding to the offset behind the spreading disk of the section, depends on three constants, themselves dependent on the set of disks used.

In this way, the automatic setting of the section cutting module takes into account the working width entered by the user, the maximum number of sections, as well as three predetermined constants, stored in the control unit of the agricultural machine. , and dependent on the set of discs used.

For example, the equation is written as follows: $$\mathit{DA\_N}=\left(\mathit{K}\mathit{4}*{\mathit{DL\_N}}^{\mathit{4}}\right)+\left(\mathit{K}\mathit{2}*{\mathit{DL\_N}}^{\mathit{2}}\right)+\mathit{K}\mathit{0.}$$

According to a particular embodiment of the invention, the first predetermined constant is representative of the working range of the disk set, denoted Lw avg.

According to this embodiment of the invention, a single constant is used to calculate the first coordinate of the section, this constant corresponding for example to an average value of the working range of the disk set.

Indeed, the inventors of the present application have found that it was possible to determine the values of the constants used according to the embodiment described above, from the working range of the used set of disks.

In this way, the X coordinate of the section corresponding to the offset behind the spreading disk of the section depends on the Y coordinate calculated from the working width entered by the user, as well as the maximum number of sections, such as described above, as well as the average width of the disks used.

For example, the value DA_N is written as follows: $$\begin{array}{l}\mathit{DA\_N}=\left[\left(\mathit{1},\mathit{31}*\mathit{10}{\mathit{e}}^{-\mathit{6}}\mathit{Lmoy}-\mathit{9},\mathit{78}*\mathit{10}{\mathit{e}}^{-\mathit{5}}\right)*{\mathit{DL\_N}}^{\mathit{4}}\right]\\ +\left[\left(-\mathit{7},\mathit{12}*\mathit{10}{\mathit{e}}^{-\mathit{4}}\mathit{Lmoy}+\mathit{0},\mathit{07}\right)*{\mathit{DL\_N}}^{\mathit{2}}\right]+\left(-\mathit{0},\mathit{17}*\mathit{Lmoy}-\mathit{9},\mathit{93}\right)\mathrm{.}\end{array}$$

According to one particular aspect of the invention, the step of transmitting the coordinates to the task controller implements at least one ISO XML type file.

According to a particular embodiment of the invention, the calculation step also takes account of a data representative of the type of particles.

Thus, if the particles to be spread have particular characteristics impacting the spreading, and for example the projection range, then the automatic parameterization method according to this embodiment of the invention makes it possible to take these characteristics into account and to calculate the coordinates of the center of each section more appropriately to the type of particles, such as for spreading a slug-resistant product or a fertilizer with a short projection range.

According to another particular embodiment of the invention, the calculation step also takes account of a datum representative of a specific form of spreading. For example, when spreading at the edge of the field, the automatic parameterization method according to this embodiment of the invention makes it possible to adapt the calculation of the coordinates of the center of each section to the specific form of the spreading, and for example, to take into account specific constants values, for both disks or for a single spreading disk.

• une vitesse de rotation des disques ;
• un angle d'attelage du dispositif d'épandage de particules ;
• une hauteur d'attelage du dispositif d'épandage de particules.

According to another aspect of the invention, the calculation step comprises a sub-step of correcting the value DA_N as a function of information representative of at least one parameter belonging to the group comprising:

• a speed of rotation of the discs;
• a coupling angle of the particle spreading device;
• a coupling height of the particle spreading device.

Thus, it is possible to provide a corrective factor to the calculations of the coordinates of a section, to take into account adjustment parameters of the spreading device, such as, for example, the speed of rotation of the discs, or the angle and / or the coupling height (for example in the case of late spreading).

The invention also relates to a control unit of an agricultural machine equipped with a particle spreading device employing at least two rotating disks carrying projection blades, said machine also being equipped with cut-off means for controlled sections. by a task controller.

According to this embodiment of the invention, for at least one disk set of the spreading device and a section N, the control unit comprises means for calculating the coordinates of the section N, and means for transmitting the coordinates. to the task controller.

• o un nombre maximal de tronçons,
• o une donnée de paramétrage représentative de la largeur de travail Lw du dispositif d'épandage, saisie par un utilisateur de la machine agricole via un module de saisie de l'unité de commande,
• ∘ au moins une première constante représentative du jeu de disques.

In particular, the calculating means outputs a DL _ N value of lateral offset of the segment N, and a value of a DA_N lag behind the centrifugal disc of the segment N, the value N _ DL taking into account the following data:

• o a maximum number of sections,
• a parameterizing data representative of the working width Lw of the spreading device, entered by a user of the agricultural machine via an input module of the control unit,
• At least one first constant representative of the set of disks.

The invention also relates to an agricultural machine comprising a control unit as described above.

Finally, the invention relates to a computer program comprising instructions for the implementation of a method of automatically parameterizing a control unit of an agricultural machine as described above, when this program is executed by a processor .

5. List of figures

• la figure 1, déjà décrite en relation avec l'art antérieur, présente une vue schématique de côté d'une machine d'épandage de semis ou d'engrais ;
• la figure 2 présente un exemple de détermination et/ou modélisation de la forme réelle de la nappe de particules granulaires recouvrant le sol en sortie du distributeur, pendant la phase d'épandage ;
• les figures 3a à 3c illustrent deux exemples de représentation de la position des tronçons de la nappe de particules granulaires recouvrant le sol en sortie du distributeur, pendant la phase d'épandage, selon un mode de réalisation particulier de l'invention ;
• la figure 4 illustre les principales étapes du procédé de programmation automatique d'une unité de commande, selon un mode de réalisation particulier de l'invention ;
• la figure 5 présente un exemple de diagramme de séquences illustrant les échanges entre une unité de commande et un contrôleur de tâches, selon un mode de réalisation particulier de l'invention.

Other characteristics and advantages of the invention will appear more clearly on reading the following description of a preferred embodiment of the invention, given by way of a simple illustrative and nonlimiting example, and the appended drawings among which:

• the figure 1 , already described in connection with the prior art, has a schematic side view of a seeding or fertilizer spreading machine;
• the figure 2 presents an example of determination and / or modeling of the actual shape of the sheet of granular particles covering the soil at the outlet of the distributor, during the spreading phase;
• the Figures 3a to 3c illustrate two examples of representation of the position of the sections of the sheet of granular particles covering the soil at the outlet of the distributor, during the spreading phase, according to a particular embodiment of the invention;
• the figure 4 illustrates the main steps of the automatic programming method of a control unit, according to a particular embodiment of the invention;
• the figure 5 shows an example of a sequence diagram illustrating the exchanges between a control unit and a task controller, according to a particular embodiment of the invention.

6. Description of embodiments 6.1 General principle

The present invention relates to a method for automatically parameterizing, or programming, a task controller controlling means for cutting sections of an agricultural machine equipped with a particle spreading device using at least two rotating disks. carrying projection blades.

According to the various particular embodiments of the invention, the method allows a simplification / optimization of the seizures of the user of the agricultural machine, so as on the one hand to limit the errors of seizures and on the other hand to allow a parameterization regardless of the working width and / or whatever the set of disks used, and / or whatever the type of particles to be spread.

In particular, the method according to the different embodiments of the invention allows an optimized automatic parameterization of the section cutting module implemented in a device for dispensing particles for agricultural machinery.

To do this, the method according to the various particular embodiments of the invention is based on the observation that the spreading sheet (20) obtained at the outlet of the distributor (21) of such an agricultural spreading machine (22) ) is not of rectangular shape as presupposed and taken into account in the solutions of the prior art, but of a shape that can be likened to a crescent, as illustrated in FIG. figure 2 . More precisely, the crescent shape of this ply (20) is composed of the assembly of right (23) and left (24) plies produced by each of the two rotary discs of the dispenser, these two plies (23, 24) overlapping each other. in at least one zone (26) at one of their respective ends.

Thus, the automatic parameterization method of the invention makes it possible to calculate an adjustment profile of the cutting of sections adapted the crescent shape of the spreading sheet, automatically, and whatever the working width and the game discs.

Here we consider a parameterization of the section cut of the distribution device implemented via a cutoff module noted TCSC (task controller section cutting or "Task Controller Section Control" in English) compatible with the ISOBUS communication protocol, for example the ISO 11783-10 standard. The parameterization according to the invention may of course be adapted to future revisions of the ISOBUS standard, or to other communication standards.

To obtain adjustment profiles of this breaking module, the method according to the different embodiments of the invention makes it possible to calculate, via an equation setting of the parameters necessary for the adjustment (such as for example the working width, the set of discs, or the type of particles), the coordinates DA_N and DL _ N of each of the sections, respectively corresponding to the offset behind the spreading disk for the section and the lateral offset of the section, with respect to direction of the machine, as illustrated in figure 3a . We note that it is customary, as illustrated on this figure 3a , number the sections starting with the one located furthest on the left side. Moreover, the coordinates DA_N and DL_N can for example correspond to the coordinates of the center of a section, or to the coordinates of a point at one end of a section (far left / rightmost end / near the disk. .) ...

On this figure 3a six sections are represented, the respective centers of which are identified by labels entitled "Section N ", the coordinates DA_1 and DL_1 being clearly represented for the section 1.

The Figures 3b and 3c illustrate a visualization of sections, "in thickness" (denoted "e" on the figure 3c ), on a control screen of a TCSC module.

6.2 Description of a first embodiment

According to a first embodiment of the invention, the steps of which are illustrated in figure 4 the method comprises, for at least one identified section N of the representation of the spreading sheet, a step 41 for calculating the coordinates of this section, delivering a lateral offset value DL N of the section N, and a value d a shift DA_N behind the spreading disc of the section N, taking into account the shape of the spreading sheet.

• d'un nombre maximal de tronçons;
• d'au moins une première constante représentative du jeu de disques utilisé ;
• d'une donnée de paramétrage saisie par un utilisateur, cette donnée étant par exemple représentative de la largeur de travail Lw, en mètre, c'est-à-dire une information facile à connaître et à saisir par l'utilisateur.

For example, according to a particular embodiment of the invention, the lateral shift DL_N value takes into account:

• a maximum number of sections;
• at least one first constant representative of the disk set used;
• parameter data input by a user, this data being for example representative of the working width Lw, in meters, that is to say information easy to know and enter by the user.

This parameter data is entered by the user preferably at the beginning of the parameterization, and therefore valid for the calculation of the cutoff adjustment profile of all the sections.

The result of this calculation, for example the values DA_N and DL_N, is then transmitted, during a transmission step 42, to the task controller controlling the cut-off means.

avec K0, K2 et K4 des constantes dépendantes du jeu de disques utilisé.In particular, the DA_N coordinate is written as follows: $$\mathit{DA\_N}=\left(\mathit{K}\mathit{4}*{\mathit{DL\_N}}^{\mathit{4}}\right)+\left(\mathit{K}\mathit{2}*{\mathit{DL\_N}}^{\mathit{2}}\right)+\mathit{K}\mathit{0.}$$

with K0, K2 and K4 constants depending on the set of disks used.

For example, the values of the constants K0, K2 and K4 can be defined according to characteristics (conventionally used) of disk width (12/28, 24/36, 32/44 and 40/50) as follows: $$-8.10{\mathrm{e}}^{-5}<\mathit{K}\mathit{4}<7.10{\mathrm{e}}^{-5},0,02<K\mathit{2}<0,06\mathrm{and}-20<<K\mathit{0}<-8.$$

avec Nmax égal au nombre total de tronçons et Lw étant la longueur de travail saisie par l'utilisateur.Moreover, as indicated in equation 1, the computation of the coordinate DA_N also depends on the coordinate DL_N , which can be defined as follows: $$\mathit{DL\_N}=\left(\mathit{NOT}-\left(\mathit{0},\mathit{5}*\mathit{N.<figure-callout\; id="5"\; label="sub.max\; +"\; filenames="imgf0002.png"\; state="\{\{state\}\}">sub.max\; </figure-callout>}+\mathit{0},\mathit{5}\right)\right)*\left(\mathit{lw}/\mathit{N.sub.max}\right)$$

with Nmax equal to the total number of sections and Lw being the working length entered by the user.

Thus, from a single user input ( Lw ), known information of the maximum number of sections (value for example stored at the factory in the control unit of the agricultural machine) and values of three constants K0, K2 and K4 depending on the set of disks used, the method according to this embodiment of the invention makes it possible to automatically calculate the coordinates of each section, thus making it possible to automatically determine a control profile of the section cut control unit. , regardless of the working width since it is a data entered by the user, and whatever the set of disks used since the constants depend on the characteristics of this set of disks.

et $$\mathit{DA\_}\mathit{2}=\left(-0,000049*-{\mathit{6}}^{\mathit{4}}\right)+\left(0,043*-{\mathit{6}}^{\mathit{2}}\right)-15,23=-13,7\mathrm{m},$$

avec K4 = -0,000049, K2 = 0,043 et K0 = -15,23.For example, for a maximum of six sections, a working width of 24 meters (data entered by the user) and a set of disks 24/36 (known data of the section cutting module, or validated by the user ), the values of the coordinates of the section 2 are calculated automatically by the control unit of the distribution device, as follows: $$\mathit{DL\_}\mathit{2}=\left(2-3,5\right)*\left(24/6\right)=-6\mathrm{m},$$

and $$\mathit{da\_}\mathit{2}=\left(-0,000049*-{\mathit{6}}^{\mathit{4}}\right)+\left(0,043*-{\mathit{6}}^{\mathit{2}}\right)-15,23=-13,7\mathrm{m},$$

with K4 = -0.000049, K2 = 0.043 and K0 = -15.23.

This embodiment of the invention therefore allows the user simplified and ergonomic input, because it no longer has to enter a multitude of complex data, from charts, and an automatic setting of a control profile the cutting of sections, to adapt to any working width and any type of disc set used.

6.3 Description of a Second Embodiment

• d'un nombre maximal de tronçons;
• d'au moins une première constante représentative du jeu de disques utilisé ;
• d'une donnée de paramétrage saisie par un utilisateur, cette donnée étant par exemple représentative de la largeur de travail Lw, en mètre, c'est-à-dire une information facile à connaître et à saisir par l'utilisateur.

According to a second embodiment of the invention, the steps of which are those illustrated in figure 4 also, the method comprises, for at least one identified section N of the representation of the spreading sheet, a step 41 for calculating the coordinates of this section, delivering a lateral shift value DL N of the section N, and a value a shift DA_N behind the spreading disk of the section N, this last value taking into account:

• a maximum number of sections;
• at least one first constant representative of the disk set used;
• parameter data input by a user, this data being for example representative of the working width Lw, in meters, that is to say information easy to know and enter by the user.

This parameter data is entered by the user preferably at the beginning of the parameterization, and therefore valid for the calculation of the cutoff adjustment profile of all the sections.

The result of this calculation, for example the values DA_N and DL_N, is then transmitted, during a transmission step 42, to the task controller controlling the cut-off means.

According to this embodiment, the automatic parameterization method makes it possible to calculate the values of the constants K0, K2 and K4 already described above, on the basis of the knowledge of the average value of the working range of the set of discs, denoted Lmoy. .

$$K\mathit{2}=-\mathit{7},\mathit{12}*\mathit{10}{\mathit{e}}^{-\mathit{4}}\mathit{Lmoy}+\mathit{0},\mathit{07},$$

$$K\mathit{0}=-\mathit{0},\mathit{17}*\mathit{Lmoy}-\mathit{9},\mathit{93.}$$

Thus, the constants K0, K2 and K4 can be written in the following way: $$\mathit{K}\mathit{4}=\mathit{1},\mathit{31}*\mathit{10}{\mathit{e}}^{-\mathit{6}}\mathit{Lmoy}-\mathit{9},\mathit{78}*\mathit{10}{\mathit{e}}^{-\mathit{5}},$$

$$K\mathit{2}=-\mathit{7},\mathit{12}*\mathit{10}{\mathit{e}}^{-\mathit{4}}\mathit{Lmoy}+\mathit{0},\mathit{07},$$

$$K\mathit{0}=-\mathit{0},\mathit{17}*\mathit{Lmoy}-\mathit{9},\mathit{93.}$$

avec Lmoy la valeur moyenne de la plage de travail du jeu de disques utilisés.Equation 1 above can then be written in a simplified way as follows, for the calculation of the coordinate DA_N : $$\begin{array}{ll}\mathit{DA\_N}=& \left[\left(\mathit{1},\mathit{31}*\mathit{10}{\mathit{e}}^{-\mathit{6}}\mathit{Lmoy}-\mathit{9},\mathit{78}*\mathit{10}{\mathit{e}}^{-\mathit{5}}\right)*{\mathit{DL\_N}}^{\mathit{4}}\right]\\ & +\left[\left(-\mathit{7},\mathit{12}*\mathit{10}{\mathit{e}}^{-\mathit{4}}\mathit{Lmoy}+\mathit{0},\mathit{07}\right)*{\mathit{DL\_N}}^{\mathit{2}}\right]\\ & +[\left(-\mathit{0},\mathit{17}*\mathit{Lmoy}-\mathit{9},\mathit{93}\right)\end{array}$$

with Lmoy the average value of the working range of the used disk set.

For example, the average width is 45m for a 40/50 disk (working in an average width of 40 and 50 meters).

Moreover, as indicated in equation 3, the computation of the coordinate DA_N also depends on the coordinate DL_N , which can be defined as in equation 2 above: DL_N = ( N - ( 0,5 * Nmax + 0 , 5 )) * ( Lw / Nmax ), with Nmax equal to the total number of sections and Lw being the working length entered by the user.

Thus, from a single user input (Lw), known information of the maximum number of sections (value for example stored in the factory in the control unit of the agricultural machine) and information on the working range. of the disk set used, the method according to this embodiment of the invention makes it possible to automatically calculate the coordinates of each section, thus making it possible to automatically determine a control profile of the section cut control unit, which that is the working width since it is a data entered by the user, and whatever the set of disks used since the average value of the set of disks is also a given data, for the determination of the values of the constants K0, K2 and K4.

This second embodiment of the invention therefore also allows the user a simplified and ergonomic input, because it no longer has to enter a multitude of complex data, from charts, as with the techniques of art previous, and an automatic setting of a profile of adjustment of the cut of sections, to fit any working width and any type of disc set used.

6.4 Illustration of data exchanges according to an embodiment of the invention

The figure 5 illustrates the main data exchanges implemented, according to a particular embodiment of the invention, between the control unit of the agricultural machine and the task controller cut sections.

Thus, the value of the maximum number of sections, the working width Lw (entered by the user) and the characteristics of the set of discs used are known data of the control unit of the agricultural machine, which can thus calculate the " X and Y " coordinates of each section, for example of the center of each section, or of an identifiable precise point of each section (a left end furthest from the disk for example), from one or more predetermined constants, dependent on the set of discs.

Finally, to allow a section cutoff profile setting by the task controller, the coordinates computed by the control unit are transmitted, for example via one or more ISO XML type files, to the task controller.

Moreover, at the same time as this transmission of the coordinates calculated by the control unit, data such as the thickness of the section (as illustrated in FIG. figure 3c ) can also be transmitted.

Claims (14)

1. Process for automatic parameterisation of a task controller controlling section-cutting means of an agricultural machine equipped with a particle-spreading device using at least two rotating discs bearing projection blades,
   characterised in that for at least one set of discs of said spreading device and a section N said process includes a step (41) of calculation of the coordinates of said section N, taking account of the shape of the spreading layer, and a step (42) of transmission of said coordinates to said task controller.
2. Process for automatic parameterisation of a task controller, according to Claim 1, characterised in that said calculation step (41) outputs a value DL_N of lateral offset of said section N and a value of a rear offset DA_N behind the spreading disc of said section N, said value DL_N taking account of the following data:

   - a maximum number of sections,

   - a parameterisation datum that is representative of the working width Lw of said spreading device, said datum having been input by a user of said agricultural machine via an input module of a control unit of said machine,

   - at least one first constant that is representative of said set of discs.
3. Process for automatic parameterisation of a task controller, according to Claim 2, characterised in that said value DL_N is written in the following way: $$\mathit{DL\_N}=\left(\mathit{N}-\left(\mathit{0},\mathit{5}*\mathit{Nmax}+\mathit{0},\mathit{5}\right)\right)*\left(\mathit{Lw}/\mathit{Nmax}\right),$$

   

   
   with Nmax equal to the total number of sections.
4. Process for automatic parameterisation of a task controller, according to any one of Claims 1 to 3, characterised in that said calculation step includes a substep of solution of an equation having at least three predetermined constants which are dependent on said set of discs, denoted by K0, K2 and K4.
5. Process for automatic parameterisation of a task controller, according to Claim 4, characterised in that said equation is written in the following way: $$\mathit{DA\_N}=\left(\mathit{K}\mathit{4}*{\mathit{DL\_N}}^{\mathit{4}}\right)+\left(\mathit{K}\mathit{2}*{\mathit{DL\_N}}^{\mathit{2}}\right)+\mathit{K}\mathit{0.}$$

   
6. Process for automatic parameterisation of a task controller, according to Claim 2, characterised in that said first predetermined constant is representative of the working range of said set of discs, denoted by Lmoy.
7. Process for automatic parameterisation of a task controller, according to Claim 6, characterised in that said value DA_N is written in the following way: $$\begin{array}{ll}\mathit{DA\_N}=& \left[\left(\mathrm{1.31}*\mathit{10}{\mathit{e}}^{-\mathit{6}}\mathit{Lmoy}-\mathrm{9.78}*\mathrm{10}{e}^{-\mathrm{5}}\right)*{\mathit{DL\_N}}^{\mathrm{4}}\right]\\ & +\left[\left(-\mathrm{7.12}*\mathrm{10}{\mathit{e}}^{-\mathit{4}}\mathit{Lmoy}+\mathrm{0.07}\right)*{\mathit{DL\_N}}^{\mathrm{2}}\right]\\ & +[\left(-\mathrm{0.17}*\mathit{Lmoy}-\mathrm{9},\mathrm{93}\right)\mathrm{.}\end{array}$$

   
8. Process for automatic parameterisation of a task controller, according to Claim 1, characterised in that said step of transmission of said coordinates to said task controller uses at least one file of type ISO XML.
9. Process for automatic parameterisation of a task controller, according to Claim 1, characterised in that said calculation step also takes account of a datum that is representative of the type of particles and/or of a datum that is representative of a specific form of spreading.
10. Process for automatic parameterisation of a task controller, according to Claim 2, characterised in that said calculation step includes a substep of correction of said value DA_N as a function of an item of information that is representative of at least one parameter pertaining to the group comprising:

    • a speed of rotation of said discs;

    • a coupling angle of said particle-spreading device;

    • a coupling height of said particle-spreading device.
11. Control unit of an agricultural machine equipped with a particle-spreading device using at least two rotating discs bearing projection blades, said machine also being equipped with section-cutting means controlled by a task controller,
    characterised in that, for at least one set of discs of said spreading device and a section N, the control unit includes means for calculation of the coordinates of said section N,
    taking account of the shape of the spreading layer, and means for transmission of said coordinates to said task controller.
12. Control unit of an agricultural machine, according to Claim 11, characterised in that said calculation means output a value DL_N of lateral offset of said section N and a value of a rear offset DA_N behind the spreading disc of said section N, said value DL_N taking account of the following data:

    - a maximum number of sections,

    - a parameterisation datum that is representative of the working width Lw of said spreading device, said datum having been input by a user of said agricultural machine via an input module of a control unit of said machine,

    - at least one first constant that is representative of said set of discs.
13. Agricultural machine including a control unit according to Claim 11 or 12.
14. Computer program comprising instructions for the implementation of a process for automatic parameterisation of a control unit of an agricultural machine, according to any one of Claims 1 to 10, when said program is executed by a processor.

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